Authors

Mauricio Muñoz-Arias, Jacquelien M.A. Scherpen, Daniel A. Dirksz

Abstract

In this paper we show force feedback and position control of a class of standard mechanical system in the port-Hamiltonian framework. Furthermore, we show how to derive an extended port-Hamiltonian system with structure preservation which can be used for force feedback purposes besides providing the closed-loop system asymptotically stable. We also show the usefulness of the extended port-Hamiltonian system by showing its disturbance attenuation properties. Finally, we present simulation results obtained for the proposed control laws.

Keywords

port-Hamiltonian systems; force feedback; stability analysis; position control; mechanical systems.

Citation

  • Journal: IFAC Proceedings Volumes
  • Year: 2012
  • Volume: 45
  • Issue: 19
  • Pages: 90–95
  • Publisher: Elsevier BV
  • DOI: 10.3182/20120829-3-it-4022.00038
  • Note: 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control

BibTeX

@article{Mu_oz_Arias_2012,
  title={{A Class of Standard Mechanical System with Force Feedback in the port-Hamiltonian Framework}},
  volume={45},
  ISSN={1474-6670},
  DOI={10.3182/20120829-3-it-4022.00038},
  number={19},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Muñoz-Arias, Mauricio and Scherpen, Jacquelien M.A. and Dirksz, Daniel A.},
  year={2012},
  pages={90--95}
}

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References